imu_drivers: microstrain_3dmgx2_imu
Stack Summary
A stack for any drivers relating to Inertial Measurement Units (IMU).
- Author: Maintained by Chad Rockey
- License: LGPL
- Repository: ros-pkg
- Source: svn https://code.ros.org/svn/ros-pkg/stacks/imu_drivers/trunk
Supported Hardware
The following drivers implement the IMU API:
MicroStrain 3DM-GX2 IMU: supported in the microstrain_3dmgx2_imu package.
Wiimote with Wii Motion Plus: supported by the wiimote package in the joystick_drivers stack.
Another IMU driver can be found here:
The driver for the Xsens MTI IMU: xsens_mti
IMU Usage Examples
The robot_pose_ekf package combines pose information coming from an IMU and other sensors to determine the pose of the robot.
ROS API
IMU Nodes
To encourage compatibility between IMU nodes, it is recommended that IMU nodes provide the following minimal API:Published Topics
imu/data (sensor_msgs/Imu)- Streaming inertial data from the IMU, which can include angular rates, acceleration and orientation. Because orientation is an integrated quantity, and different IMUs have different strategies for removing drift from their integrated measurements, the precise meaning of the orientation matrix is device-dependent.
- Latched topic indicating if the gyroscope biases have been calibrated.
Services
imu/calibrate (std_srvs/Empty)- Tells the IMU to (re)calibrate its gyroscope biases. The service call returns once calibration is complete. Calibration failure can be detected by subscribing to the imu/is_calibrated topic. A message will published to imu/is_calibrated for each call to imu/calibrate.
Report a Bug
Use trac to report bugs or request features. [View active tickets]